Delta DTV Series, Руководство пользователя

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2. Tab Operation and Function Instructions
When you set the JRC Operation to 1 (the JRC_Active field displays 1), the rotation axis moves to the
target point according to the rotation direction preset by the user and records the rotation count, as shown
in Figure 2-57. The next movement will follow the rotation axis path set by the user to reach the target
point.
Figure 2-57 Joint Rotation Count function mode 1
When you set the JRC Operation to 2 (the JRC_Active field displays 2), the rotation axis rotates to the
target position by the shortest distance, as shown in Figure 2-58. The rotation axis of the arm rotates from
the current position to the target position by the shortest distance. However, if the current position of the
rotation axis is close to the limit angle, indicated as Alarm in Figure 2-58, the rotation axis will exceed the
limit when it moves from the P1 position to the target through the shortest path, and the system will
display a warning message and stop the arm movement.
Figure 2-58 Joint Rotation Count function mode 2
When you set the JRC Operation to 3 (the JRC_Active field displays 3), the rotation axis rotates to the
target position by the shortest distance without exceeding the limit range, as shown in Figure 2-59. It
moves from the P1 position to the target point without exceeding the limit range. If the current position of
the rotation axis is close to the limit angle, it rotates to the target position without exceeding the limit. But
when using mode 3, check whether the set pipeline and mold cause problems during rotation.
Figure 2-59 Joint Rotation Count function mode 3
Note: Mode 4 supports DRS 4-axis models and DRS 5-axis models only.